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fix pathfinding issues

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Thayol
2025-01-12 19:43:45 +09:00
parent 6ff950640c
commit 8e861929cb
6 changed files with 385 additions and 158 deletions
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src/entity.js
+74 -67
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@@ -3,6 +3,7 @@ import SAT from 'sat'
import SATX from './satx.js'
import Pathfind from './pathfind.js'
import Ability from './ability.js'
import Team from './team.js'
export default class Entity {
id = crypto.randomUUID()
@@ -11,21 +12,23 @@ export default class Entity {
health = 1
maxHealth = 1
abilities = [
Ability.basicAttack,
Ability.rangedAttack,
Ability.straightShot,
Ability.shieldThrow,
Ability.blink,
]
casting = null
// TODO: teams
team = Team.neutral
cooldowns = {}
#attack = false
#position = new Vector2()
#dest = null
#game = null
#logic = null
#path = []
#position = new Vector2()
#scheduledPathfinding = null
static collider(x, y, radius) {
return new SAT.Circle(new SAT.Vector(x, y), radius)
@@ -35,11 +38,19 @@ export default class Entity {
Object.entries(options).forEach(([key, value]) => this[key] = value)
}
get destination() { return this.#dest }
get logic() { return this.#logic }
get game() { return this.#game }
get position() { return this.#position }
get scheduledPathfinding() { return this.#scheduledPathfinding }
get x() { return this.position.x }
get y() { return this.position.y }
set destination(value) { this.#dest = value }
set logic(value) { this.#logic = value }
set game(value) { this.#game = value }
set position(value) { this.#position = value }
set scheduledPathfinding(value) { this.#scheduledPathfinding = value }
set x(value) { this.position.x = value }
set y(value) { this.position.y = value }
@@ -123,20 +134,6 @@ export default class Entity {
this.#attack = false
}
autoAttack() {
if (!this.#attack) { return false }
if (this.game?.entities.some((e) => e.id != this.id && e.position.clone().sub(this.position).length() < this.abilities[0].range)) {
const cooldown = this.game?.secToTick(this.abilities[0].cooldown) ?? 0
const lastCast = this.cooldowns[this.abilities[0].id]
const timestamp = this.game?.currentTick ?? 0
if (lastCast != null && lastCast + cooldown > timestamp) { return false }
const target = this.#dest ?? this.position
this.castAction(0, target.x, target.y, false)
}
}
cast() {
if (this.casting == null) {
return false
@@ -209,50 +206,71 @@ export default class Entity {
this.fixPosition()
}
// TODO: unset destination on teleports, etc.
// TODO: recalculate path on obstructions (currently next waypoint is used)
takeStep(distanceTraveled = 0) {
if (this.casting != null) { return false }
const speed = (this.speed / (this.game?.tickBudget ?? 1000)) - distanceTraveled
const collidables = this.collidables()
if (this.#dest != null) {
const fixedDest = SATX.clamp(SATX.fixCollisions(this.#dest, collidables, this.radius), this.game?.width, this.game?.height, this.radius)
if (this.#attack && this.game?.entities.some((e) => e.team != this.team && e.position.clone().sub(this.position).length() < this.abilities[0].range)) {
const cooldown = this.game?.secToTick(this.abilities[0].cooldown) ?? 0
const lastCast = this.cooldowns[this.abilities[0].id]
const timestamp = this.game?.currentTick ?? 0
if (lastCast != null && lastCast + cooldown > timestamp) { return false }
if (this.#path.length < 1 || !this.#path.at(-1).equals(fixedDest)) {
// console.time('pathfinding')
const start = SATX.vectorToFloat32Array(this.position)
const goal = SATX.vectorToFloat32Array(fixedDest)
const nonUniqueWaypoints = this.waypoints().map((w) => SATX.vectorToFloat32Array(w)).concat([start, goal])
const waypoints = Pathfind.uniqueWaypoints(nonUniqueWaypoints)
const graph = Pathfind.buildGraph(waypoints, collidables, this.radius)
this.#path = Pathfind.shortestPath(graph, start, goal).map((waypoint) => new Vector2(waypoint[0], waypoint[1]))
// console.timeEnd('pathfinding')
const target = this.#dest ?? this.position
this.castAction(0, target.x, target.y, false)
return true
}
if (this.#dest == null) { return false }
const collidables = this.collidables()
const fixedDest = SATX.clamp(SATX.fixCollisions(this.#dest, collidables, this.radius), this.game?.width, this.game?.height, this.radius)
const tunnel = SATX.entityTunnel(this.#position.x, this.#position.y, fixedDest.x, fixedDest.y, this.radius)
const destinationInLineOfSight = !SATX.collideObjects(tunnel, collidables)
if (this.#path.length > 0) {
if (!destinationInLineOfSight) {
this.#path = []
}
}
if (this.#path.length < 1 || !this.#path.at(-1).equals(fixedDest)) {
if (destinationInLineOfSight) {
this.#path = [fixedDest]
}
}
if ((this.#path.length < 1 || !this.#path.at(-1).equals(fixedDest)) && (!this.#scheduledPathfinding || this.game?.currentTick % this.game?.tickRate == this.#scheduledPathfinding)) {
const start = SATX.vectorToFloat32Array(this.position)
const goal = SATX.vectorToFloat32Array(fixedDest)
const nonUniqueWaypoints = this.waypoints().map((w) => SATX.vectorToFloat32Array(w)).concat([start, goal])
const waypoints = Pathfind.uniqueWaypoints(nonUniqueWaypoints)
const graph = Pathfind.buildGraph(waypoints, collidables, this.radius)
this.#path = Pathfind.shortestPath(graph, start, goal).map((waypoint) => new Vector2(waypoint[0], waypoint[1]))
}
if (this.#path.length > 0) {
const speed = (this.speed / (this.game?.tickBudget ?? 1000)) - distanceTraveled
const destination = this.#path.at(0)
const difference = destination.clone().sub(this.position)
const distance = difference.length()
const direction = difference.clone().normalize()
const stepTaken = this.position.clone().add(direction.multiplyScalar(speed))
const position = distance <= speed ? destination : stepTaken
const collider = Entity.collider(position.x, position.y, this.radius)
const isColliding = SATX.collideObjects(collider, this.collidables())
if (!isColliding) {
this.position.copy(position)
}
if (this.#path.length > 0) {
const destination = this.#path.at(0)
const difference = destination.clone().sub(this.position)
const distance = difference.length()
const direction = difference.clone().normalize()
const stepTaken = this.position.clone().add(direction.multiplyScalar(speed))
const position = distance <= speed ? destination : stepTaken
const collider = Entity.collider(position.x, position.y, this.radius)
const isColliding = SATX.collideObjects(collider, this.collidables())
if (!isColliding) {
this.position.copy(position)
if (this.position.equals(destination)) {
this.#path = this.#path.slice(1)
if (this.#path.length > 0) {
this.takeStep(distance)
}
if (this.position.equals(destination)) {
this.#path = this.#path.slice(1)
if (this.#path.length > 0) {
this.takeStep(distance)
}
else {
this.#dest = null
}
else {
this.#dest = null
}
}
}
@@ -262,19 +280,8 @@ export default class Entity {
this.cast()
this.takeStep()
this.fixPosition()
this.autoAttack()
// TODO: proper death and respawn
if (this.health <= 0) {
if (this.id == '1' || this.id == '2') {
this.health = this.maxHealth
if (this.id == '1') {
this.teleport(new Vector2(200, 200))
}
if (this.id == '2') {
this.teleport(new Vector2(1800, 1800))
}
}
if (this.#logic != null) {
this.#logic()
}
}